File size: 3,536 Bytes
f4a62da |
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 |
# Copyright 2025 The HuggingFace Inc. team. All rights reserved.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
# This Dockerfile is designed for HuggingFace internal CI environments
# that require GPU access. It starts from an NVIDIA CUDA base image.
# docker build -f docker/Dockerfile.internal -t lerobot-internal .
# Configure the base image for CI with GPU access
# TODO(Steven): Bump these versions
ARG CUDA_VERSION=12.4.1
ARG OS_VERSION=22.04
FROM nvidia/cuda:${CUDA_VERSION}-base-ubuntu${OS_VERSION}
# Define Python version argument
ARG PYTHON_VERSION=3.10
# Configure environment variables
ENV DEBIAN_FRONTEND=noninteractive \
MUJOCO_GL=egl \
PATH=/lerobot/.venv/bin:$PATH \
CUDA_VISIBLE_DEVICES=0 \
TEST_TYPE=single_gpu \
DEVICE=cuda
# Install Python, system dependencies, and uv (as root)
RUN apt-get update && apt-get install -y --no-install-recommends \
software-properties-common build-essential git curl \
libglib2.0-0 libgl1-mesa-glx libegl1-mesa ffmpeg \
libusb-1.0-0-dev speech-dispatcher libgeos-dev portaudio19-dev \
cmake pkg-config ninja-build \
&& add-apt-repository -y ppa:deadsnakes/ppa \
&& apt-get update \
&& apt-get install -y --no-install-recommends \
python${PYTHON_VERSION} \
python${PYTHON_VERSION}-venv \
python${PYTHON_VERSION}-dev \
&& curl -LsSf https://astral.sh/uv/install.sh | sh \
&& mv /root/.local/bin/uv /usr/local/bin/uv \
&& useradd --create-home --shell /bin/bash user_lerobot \
&& usermod -aG sudo user_lerobot \
&& apt-get clean && rm -rf /var/lib/apt/lists/*
# Create application directory and set permissions
WORKDIR /lerobot
RUN chown -R user_lerobot:user_lerobot /lerobot
# Switch to the non-root user
USER user_lerobot
# Environment variables for the testing
ENV HOME=/home/user_lerobot \
HF_HOME=/home/user_lerobot/.cache/huggingface \
HF_LEROBOT_HOME=/home/user_lerobot/.cache/huggingface/lerobot \
TORCH_HOME=/home/user_lerobot/.cache/torch \
TRITON_CACHE_DIR=/home/user_lerobot/.cache/triton
# Create the virtual environment
# We use a virtual environment inside the container—even though the container itself \
# provides isolation—to ensure compatibility with the cluster and to prevent \
# issues with MuJoCo and OpenGL drivers.
RUN uv venv --python python${PYTHON_VERSION}
# Install Python dependencies for caching
COPY --chown=user_lerobot:user_lerobot pyproject.toml README.md MANIFEST.in ./
COPY --chown=user_lerobot:user_lerobot src/ src/
ARG UNBOUND_DEPS=false
RUN if [ "$UNBOUND_DEPS" = "true" ]; then \
sed -i 's/,[[:space:]]*<[0-9\.]*//g' pyproject.toml; \
echo "Dependencies unbound:" && cat pyproject.toml; \
fi
RUN uv pip install --no-cache ".[all]"
# Copy the rest of the application source code
# Make sure to have the git-LFS files for testing
COPY --chown=user_lerobot:user_lerobot . .
# Set the default command
CMD ["/bin/bash"]
|